CN111547086A - Rail inspection vehicle - Google Patents
Rail inspection vehicle Download PDFInfo
- Publication number
- CN111547086A CN111547086A CN202010392703.9A CN202010392703A CN111547086A CN 111547086 A CN111547086 A CN 111547086A CN 202010392703 A CN202010392703 A CN 202010392703A CN 111547086 A CN111547086 A CN 111547086A
- Authority
- CN
- China
- Prior art keywords
- chassis
- mounting
- inspection vehicle
- spring
- guide wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
- B61D15/12—Railway inspection trolleys power propelled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
Abstract
The invention provides a rail inspection vehicle, comprising: the sensor frame is detachably connected with the main frame, and detection equipment is arranged on the sensor frame; wherein, the main frame includes: a chassis; the traveling mechanism is connected with the chassis and is used for being in contact fit with the top surface of the track beam so that the rail inspection vehicle travels along the track beam; and the guide stabilizing mechanism is connected with the chassis and is used for clamping the side surface of the track beam so as to stabilize the track inspection vehicle. The rail inspection vehicle provided by the invention is additionally provided with the sensor frame with a split structure, so that the sensor frame is detachably connected with the main frame, the detection equipment arranged on the main frame in the related technology is arranged on the sensor frame of the rail inspection vehicle provided by the application, and the acting force between the rail inspection vehicle and the detected rail beam directly acts on the guide stabilizing mechanism, thereby being beneficial to ensuring the use stability of the sensor frame, further ensuring the use stability of the detection equipment and enabling the detection result to be more accurate.
Description
Technical Field
The invention relates to the technical field of rail transit equipment, in particular to a rail inspection vehicle.
Background
At present, the monorail train has the prominent advantages of small occupied area, quick construction period, low manufacturing cost and maintenance cost and the like, and the monorail train gradually shows importance in rail transit. The track beam of straddle type monorail transit is a bridge structure for loading a monorail train and a track for supporting the running and guiding of the monorail train, and compared with a common bridge, the track beam of straddle type monorail transit requires higher manufacturing precision and erection and installation precision.
Disclosure of Invention
In order to improve at least one of the above technical problems, an object of the present invention is to provide a rail inspection vehicle.
In order to achieve the above object, the technical solution provided by the present invention provides a rail inspection vehicle, comprising: the sensor frame is detachably connected with the main frame and used for arranging detection equipment to detect the track beam; wherein the main frame includes: a chassis; the traveling mechanism is connected with the chassis and is used for being in contact fit with the top surface of the track beam so that the rail inspection vehicle travels along the track beam; and the guide stabilizing mechanism is connected with the chassis and is used for clamping the side surface of the track beam so as to stabilize the track inspection vehicle.
Wherein, the rail inspection vehicle is also called rail inspection trolley, rail inspection vehicle, rail inspection instrument, etc.
In addition, the rail inspection vehicle in the technical scheme provided by the invention can also have the following additional technical characteristics:
in the above technical solution, a plurality of chassis mounting surfaces are provided on the chassis, and the plurality of chassis mounting surfaces are used for connecting the traveling mechanism, the guiding and stabilizing mechanism and the sensor frame; the chassis is of an integrated welding structure, and the chassis mounting surface is formed on the integrated welding structure.
In any one of the above technical solutions, the number of the guide stabilizing mechanisms is four, and the four guide stabilizing mechanisms are arranged in a rectangular shape and are respectively located at four corners of the rectangular shape, so that the rail inspection vehicle spans the rail beam in the transverse direction; wherein the transverse direction is perpendicular to the advancing direction of the rail inspection vehicle.
In the above technical solution, the guide stabilizing mechanism includes: one end of the guide wheel arm is connected with the chassis, and at least one part of the guide wheel arm extends along the direction vertical to the chassis; one end of the guide wheel bracket is connected with the other end of the guide wheel arm in a turning way; the guide wheel bracket comprises a spring mounting seat; the guide wheel shaft is connected with the spring mounting seat; the guide wheel is arranged on the guide wheel shaft and is suitable for rolling along the side surface of the track beam; wherein the spring mount is adapted to be lengthened or shortened in a lateral direction to maintain the guide wheel in contact engagement with the side of the rail beam.
In the above technical solution, the guide wheel bracket includes a bracket body and two spring mounting seats, the two spring mounting seats are respectively disposed on the upper and lower sides of the bracket body, the bracket body is provided with a guide groove, and the guide groove is used for accommodating a part of the guide wheel; and/or the chassis and the guide wheel arm are positioned by adopting a seam allowance; and/or a spring adjusting rod and an adjusting rod nut are arranged on the spring mounting seat, one end of the spring adjusting rod is connected with the guide wheel shaft, one end of the spring adjusting rod is connected with the adjusting rod nut, and the adjusting rod nut is suitable for rotating to be matched with the spring adjusting rod to drive the guide wheel to transversely move relative to the guide wheel arm; and/or be equipped with spring and spring adjusting nut on the spring mount pad, the one end of spring with the guide wheel arm is stopped to cooperate, the other end of spring with spring adjusting nut links to each other, spring adjusting nut is suitable for the rotation in order to adjust the compression capacity of spring, reinforcing the pretightning force of spring.
In any one of the above technical solutions, the traveling mechanism includes a connecting plate, a coding wheel pair and a driving wheel pair; the connecting plate is connected with the chassis, and the coding wheel pair and the driving wheel pair are arranged on the connecting plate in the front and back direction along the running direction of the rail inspection vehicle; wherein, the connecting plate is a whole plate.
In any of the above technical solutions, the sensor frame includes a beam portion and two extending portions connected with the beam portion; the sensor frame is provided with a plurality of first mounting surfaces, and the first mounting surfaces are arranged on the end surface of the sensor frame facing the main frame direction and connected with the chassis; the beam part is provided with a plurality of second mounting surfaces, and the second mounting surfaces are arranged on the end surface, far away from the extending part direction, of the sensor frame and used for mounting detection equipment for detecting the running surface of the track beam; the two extending parts are respectively provided with a plurality of third mounting surfaces arranged at intervals, the plurality of third mounting surfaces on the two extending parts are arranged oppositely one by one, and the third mounting surfaces are used for mounting detection equipment for detecting the side surfaces of the track beam.
In the above technical solution, the flatness of the first mounting surface is in the range of 0.1mm to 0.3mm, and the parallelism among the plurality of first mounting surfaces is in the range of 0.05mm to 0.15 mm; the flatness of the second mounting surface is in the range of 0.1mm to 0.3 mm; and the parallelism of the second mounting surfaces relative to the first mounting surfaces is in the range of 0.05mm to 0.15 mm; the flatness of the third mounting surface is in the range of 0.1mm to 0.3 mm; and the verticality of the third mounting surfaces relative to the first mounting surface is in the range of 0.05mm to 0.15 mm.
In any one of the above technical solutions, the number of the first mounting surfaces is four, and the four first mounting surfaces are arranged in a rectangular shape and are respectively located at four corners of the rectangular shape; the first mounting surface is positioned with the chassis mounting surface of the chassis through a combined pin, and the first mounting surface is detachably connected with the chassis mounting surface of the chassis through a locker.
In any one of the above technical solutions, the number of the beam portions is plural, and the plural beam portions are arranged at intervals along the longitudinal direction; wherein, longitudinal direction is the advancing direction of car is examined to the rail.
In any one of the above technical solutions, the rail inspection vehicle further includes: the cover shell is connected with the chassis and arranged above the chassis; the apron board is connected with the chassis and arranged above the travelling mechanism and the sensor frame; the driving device is connected with the chassis and is electrically connected with the travelling mechanism; and the electric cabinet is connected with the chassis and is used for being electrically connected with the detection equipment.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a rail inspection vehicle according to an embodiment of the invention;
FIG. 2 is a schematic perspective view of a main frame according to an embodiment of the present invention;
FIG. 3 is a schematic view of a main frame according to an embodiment of the present invention;
FIG. 4 is an enlarged view of portion A of FIG. 3;
fig. 5 is a schematic structural diagram of a rail inspection vehicle according to an embodiment of the invention;
FIG. 6 is a schematic perspective view of a sensor frame according to an embodiment of the present invention;
FIG. 7 is an exploded view of a sensor frame and chassis according to one embodiment of the present invention;
fig. 8 is a schematic view of a connection structure of a sensor frame and a chassis according to an embodiment of the present invention.
Wherein, the correspondence between the reference numbers and the component names in fig. 1 to 8 is:
10 a main frame; 20 a sensor frame; 21 a beam portion; 22 an extension; 201 a first mounting surface; 202 a second mounting surface; 203 a third mounting surface; 30 a chassis; 301 chassis mounting surface; 40 a running mechanism; 41 connecting plates; 42 code wheel pairs; 43 driving wheel pairs; 50, a guide stabilizing mechanism; 51 guide wheel arms; 52 a guide wheel support; 521 a spring mounting seat; 522 a stent body; a 523 spring; 524 spring adjusting nut; 525 spring adjusting rod; 526 adjusting rod nuts; 527 guide groove; 53 guide wheel shaft; 54 a guide wheel; 60, a housing; 70 skirting boards; 80 a drive device; and 90, an electric cabinet.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A rail inspection vehicle in some embodiments of the invention is described below with reference to fig. 1-8.
Some embodiments of the present application provide a rail inspection vehicle, including: the main frame 10 and the sensor frame 20, and the main frame 10 and the sensor frame 20 are of a split structure.
Specifically, as shown in fig. 1 and 7, the sensor frame 20 is used to set a detection device to detect the rail beam. The main frame 10 includes a chassis 30, a traveling mechanism 40, and a guide stabilizing mechanism 50. The traveling mechanism 40 is connected with the chassis 30 and is used for being in contact fit with the top surface of the track beam, so that the rail inspection vehicle travels along the track beam; the guide stabilizing mechanism 50 is connected with the chassis 30 and used for clamping the side surface of the track beam so as to stabilize the track inspection vehicle.
The chassis 30 in this embodiment serves as a carrier of the entire rail inspection vehicle, and provides a mounting reference for other components (the traveling mechanism 40, the guide stabilizing mechanism 50, and the sensor frame 20) and ensures the mounting accuracy of the entire vehicle. The chassis 30 is connected with a traveling mechanism 40 and a guiding and stabilizing mechanism 50, and the traveling mechanism 40 and the guiding and stabilizing mechanism 50 are in contact with the track beam. The rail inspection vehicle provided by the embodiment is additionally provided with the sensor frame 20, and the detection equipment is arranged on the sensor frame 20, so that the detection equipment is not directly arranged on the travelling mechanism 40 or the guide stabilizing mechanism 50. In this way, in the process of advancing the rail inspection vehicle and detecting the quality of the rail beam, the acting force between the rail inspection vehicle and the rail beam directly acts on the traveling mechanism 40 and the guide stabilizing mechanism 50, so that the influence on the detection equipment on the sensor frame 20 can be reduced, the detection equipment arranged on the sensor frame 20 is more stable relative to the related art, the possibility of displacement of the detection equipment is reduced, and the detection result is more accurate.
In addition, it is worth mentioning that the main frame 10 is composed of rectangular steel pipes, and the rectangular steel pipes can bear larger load than steel materials in other shapes due to the characteristics of the structural shape of the rectangular steel pipes, so as to enhance the structural strength of the main frame 10, thereby reducing the possibility that the chassis 30, the traveling mechanism 40 and the guide stabilizing mechanism 50 deform in the using process, and improving the use reliability of the rail inspection vehicle provided by the embodiment.
In some embodiments, the sensor frame 20 is provided with a detection device for detecting the track beam. Like this, examine the car through setting up the rail, compare in relying on artifical the measuring, go to see through the naked eye, judge with the mode of ruler volume whether the power supply rail of track roof beam staggers the platform or the finger plate staggers the platform and exceeds standard, can effectively reduce work load big to simplify measurement process, improve and detect precision and detection efficiency. Meanwhile, the possibility of safety accidents caused by walking measurement of workers on the viaduct is reduced, and the safety of detection means is improved.
In some embodiments, as shown in fig. 2 and 7, a plurality of chassis mounting surfaces 301 are provided on the chassis 30, and the chassis mounting surfaces 301 are used for connecting the traveling mechanism 40, the guiding and stabilizing mechanism 50, and the sensor frame 20; the chassis 30 is an integral welding structure, and the chassis mounting surface 301 is formed on the integral welding structure.
The chassis 30 that this embodiment provided is integral type welded structure, chassis 30 is formed by the welding of many steel, and chassis installation face 301 is processed after the welding for the relative position of each chassis installation face 301 is more accurate, has reduced because the produced error of welding, thereby has ensured the accuracy nature of the relative position of running gear 40, direction stabilizing mean 50 and sensor frame 20 that link to each other with chassis installation face 301, in order to satisfy the design requirement of high accuracy, and then help improving the accuracy nature of testing result.
In some embodiments, as shown in fig. 2, the number of the guiding and stabilizing mechanisms 50 is four, and four guiding and stabilizing mechanisms 50 are arranged in a rectangular shape and are respectively located at four corners of the rectangle, so that the rail inspection vehicle spans the rail beam in the transverse direction; wherein, the transverse direction is perpendicular to the advancing direction of the rail inspection vehicle.
Through rationally setting up the quantity and the position of direction stabilizing mean 50, can strengthen the equilibrium and the stability of main frame 10 to reduce the rail and examine the possibility that the car twists in horizontal and vertical, like this, be the rectangle through setting up four direction stabilizing mean 50, make chassis 30 place plane all more stable in horizontal and vertical. Where longitudinal refers to the direction of travel along the rail beam (i.e., the front-to-back direction in the figure), and lateral is perpendicular to the longitudinal direction (i.e., the left-to-right direction in the figure).
Specifically, as shown in fig. 7, two chassis mounting surfaces 301 on the side surface of the chassis 30 are used for connecting the guiding and stabilizing mechanism 50, the other two chassis mounting surfaces 301 for connecting the guiding and stabilizing mechanism 50 are located on the other side surface (not visible in the drawing) of the chassis 30, four chassis mounting surfaces 301 on the top surface of the chassis 30 are used for connecting the sensor frame, and the four chassis mounting surfaces 301 are respectively arranged opposite to the positions of the four first mounting surfaces 201 on the sensor frame 20. The chassis mounting surface 301 shown in fig. 8 is used for attaching the running gear 40.
In some embodiments, as shown in fig. 3 and 4, in the above technical solution, the guide stabilizing mechanism 50 includes a guide wheel arm 51, a guide wheel bracket 52, a guide wheel shaft 53 and a guide wheel 54.
Specifically, one end of the guide wheel arm 51 is connected to the chassis 30, and at least a portion of the guide wheel arm 51 extends in a direction perpendicular to the chassis 30; one end of the guide wheel bracket 52 is connected with the other end of the guide wheel arm 51 in a turning way, and the guide wheel bracket 52 comprises a spring mounting seat 521; the guide wheel shaft 53 is connected with the spring mounting seat 521; the guide wheels 54 are provided on the guide wheel shafts 53 and adapted to roll along the side of the rail beam; the spring mount 521 is adapted to be lengthened or shortened in the lateral direction to maintain the guide wheel 54 in contact engagement with the side of the rail beam.
The guide stabilizing mechanism 50 provided by the embodiment enables the guide wheels 54 to move transversely by arranging the spring mounting seat 521, so that the four guide wheels 54 are clamped on the side surfaces of the track beam from the left side and the right side, the spring mounting seat 521 comprises the springs 523, a buffering effect can be achieved, and acting force of the track beam on the guide wheels 54 is absorbed, so that the stability of the rail inspection vehicle is improved. Further, the guide wheels 54 can be brought into close contact with the side surfaces of the rail beam by the elastic force of the springs 523 of the spring mount 521.
Further, the guide wheel 54 is an aluminum alloy hub-polyurethane tire.
The polyurethane tire has both elasticity of a rubber tire and higher hardness than the rubber tire, so that the service life of the guide wheel 54 can be improved.
Further, as shown in fig. 4, the guide wheel bracket 52 includes a bracket body 522 and two spring mounting seats 521, the two spring mounting seats 521 are respectively disposed on the upper and lower sides of the bracket body 522, a guide groove 527 is disposed on the bracket body 522, and the guide groove 527 is configured to receive a portion of the guide wheel 54.
The guide wheel bracket 52 provided by the embodiment includes two upper and lower spring mounting seats 521, and the two spring mounting seats 521 are respectively disposed at two ends of the guide wheel shaft 53, so that the guide wheel shaft 53 moves more stably, and further the guide wheel 54 is more stable. The guide stabilizing mechanism 50 is made more compact by providing the guide groove 527 and enabling the guide groove 527 to accommodate a portion of the guide wheel 54.
Further, as shown in fig. 3, the chassis 30 is positioned with the guide wheel arm 51 using a spigot.
One of chassis 30 and leading wheel arm 51 is equipped with the boss and the other is equipped with the recess, and the boss is located in the recess to carry on spacingly between leading wheel arm 51 and chassis 30, make the relative position of leading wheel arm 51 and chassis 30 more stable.
Further, as shown in fig. 4, a spring 523 and a spring adjusting nut 524 are disposed on the spring mounting seat 521, one end of the spring 523 is in abutting fit with the guide wheel arm 51, the other end of the spring 523 is connected to the spring adjusting nut 524, and the spring adjusting nut 524 is adapted to rotate to adjust the compression amount of the spring 523 and enhance the pre-tightening force of the spring 523.
The spring 523 can be compressed by arranging the spring adjusting nut 524, so that the pre-tightening force of the spring 523 is increased, enough potential energy is provided on the spring 523 and is transmitted to the guide wheel 54, the guide wheel 54 is pressed on the track beam, and the stability of the track inspection vehicle is further improved.
Further, as shown in fig. 4, a spring adjusting rod 525 and an adjusting rod nut 526 are disposed on the spring mounting seat 521, one end of the spring adjusting rod 525 is connected to the guiding wheel shaft 53, one end of the spring adjusting rod 525 is connected to the adjusting rod nut 526, and the adjusting rod nut 526 is adapted to rotate to cooperate with the spring adjusting rod 525 to drive the guiding wheel 54 to move laterally relative to the guiding wheel arm 51.
Through setting up spring adjusting rod 525 and adjusting rod nut 526, spring adjusting rod 525 links to each other with leading wheel axle 53, can adjust the relative distance between leading wheel axle 53 and the leading wheel arm 51 through rotating adjusting rod nut 526 to can adjust the distance between two leading wheels 54 of horizontal setting, can make leading wheel 54 and the lateral wall separation of track roof beam through rotating adjusting rod nut 526 like this, be convenient for examine the car with the rail and dismantle the track roof beam down.
In some embodiments, as shown in FIG. 2, the travel mechanism 40 includes a connecting plate 41, a pair of encoder wheels 42, and a pair of drive wheels 43; as shown in fig. 8, the connecting plate 41 is connected with the chassis 30, and the encoder wheel pair 42 and the driving wheel pair 43 are arranged on the connecting plate 41 in the front and back direction along the traveling direction of the inspection vehicle; wherein the connecting plate 41 is a whole plate.
By making the connecting plate 41 an integral plate, it is helpful to improve the coaxiality and flatness of the encoder wheel pair 42 (two encoder wheels) and the drive wheel pair 43 (two drive wheels). The whole plate can be a complete steel plate or a flat plate formed by welding a plurality of steel plates.
In some embodiments, as shown in fig. 6 and 7, the sensor frame 20 includes a beam portion 21 and two extension portions 22 connected to the beam portion 21; the sensor frame 20 is provided with a plurality of first mounting surfaces 201 and a plurality of second mounting surfaces 202, the first mounting surfaces 201 are arranged on the end surface of the sensor frame 20 facing the main frame 10 and connected with the chassis 30; the second mounting surface 202 is arranged on the end surface of the sensor frame 20 on the side far away from the main frame 10 (namely, on the top surface of the sensor frame 20) and is used for mounting a detection device for detecting the running surface of the track beam; a plurality of third mounting surfaces 203 arranged at intervals are arranged on the two extension parts 22, the third mounting surfaces 203 on the two extension parts 22 are arranged oppositely one by one, and the third mounting surfaces 203 are used for mounting detection equipment for detecting the side surfaces of the track beam.
The sensor frame 20 provided by the embodiment is provided with a plurality of mounting surfaces for mounting the detection equipment, and a first mounting surface 201 facing the main frame 10 is arranged, so that the first mounting surface 201 is arranged opposite to a chassis mounting surface 301 on the chassis 30, and the main frame 10 and the sensor frame 20 can be connected together through a connecting piece. In addition, the sensor frame 20 is further provided with a second mounting surface 202 and a third mounting surface 203, and by arranging the second mounting surface 202 and the third mounting surface 203 facing the side surface of the track beam, slab staggering (such as power supply rail slab staggering and finger slab staggering) of the track beam can be effectively detected, so that the position of the track beam can be adjusted according to a detection result, and the running safety of the monorail train and the comfort of the bearing seat are further guaranteed. The second mounting surface 202 and the third mounting surface 203 may be determined according to the number of collocated detection devices. It will also be appreciated that the sensor frame 20 may be provided in other shapes depending on the shape of the rail beam.
Further, the flatness of the first mounting surfaces 201 is in the range of 0.1mm to 0.3mm, and the parallelism among the plurality of first mounting surfaces 201 is in the range of 0.05mm to 0.15 mm; the flatness of the second mounting surface 202 is in the range of 0.1mm to 0.3 mm; and the parallelism of the plurality of second mounting surfaces 202 with respect to the first mounting surface 201 is in the range of 0.05mm to 0.15 mm; the flatness of the third mounting surface 203 is in the range of 0.1mm to 0.3 mm; and the verticality of the plurality of third mounting surfaces 203 with respect to the first mounting surface 201 is in the range of 0.05mm to 0.15 mm.
Through setting up the plane degree of each installation face, improve the precision of installation. In addition, the first installation surface 201 is used as an installation reference surface, the parallelism degree of the second installation surface 202 and the first installation surface 201 is limited, and the verticality degree of the third installation surface 203 and the first installation surface 201 is limited, so that the orientation of detection equipment installed on the second installation surface 202 and the third installation surface 203 can be ensured to be more accurate, a more accurate positioning effect is realized, and the accuracy of a detection result is further improved.
In some embodiments, as shown in fig. 6 and 7, the number of the first mounting surfaces 201 is four, and the four first mounting surfaces 201 are arranged in a rectangle and are respectively located at four corners of the rectangle; the first mounting surface 201 is positioned with the chassis mounting surface 301 of the chassis 30 by the combination pin, and the first mounting surface 201 is detachably connected with the chassis mounting surface 301 of the chassis 30 by the locker.
The number of the first mounting surfaces 201 is four, and the four first mounting surfaces 201 are attached to the chassis mounting surface 301 in a rectangular distribution mode, so that the sensor frame 20 connected with the main frame 10 is more stable, and the possibility of shaking of the sensor frame 20 in the rail inspection vehicle running detection process is reduced. The sensor frame 20 is convenient to assemble and disassemble by arranging the combination of the combination pin and the locker, the sensor frame 20 is disassembled and assembled again by the positioning function of the combination pin and the quick fixing function of the locker, the positions of the sensor frame 20 in the front and back times relative to the main frame 10 are basically unchanged, and the relative positions between the sensor frame 20 in the front and back times can be only within 0.1 mm.
In some embodiments, as shown in fig. 6 and 7, the number of the beam portions 21 is plural, and the plural beam portions 21 are provided at intervals in the longitudinal direction; wherein the longitudinal direction is the direction of travel of the rail inspection car, i.e. the front-to-back direction shown in fig. 8.
By arranging the plurality of beam portions 21, the number of the beam portions 21 is increased, and the number of the extending portions 22 is correspondingly increased, so that the number of the third mounting surfaces 203 is increased, more detection devices can be arranged to detect the side surfaces of the track beam at multiple positions, especially the positions in the front-back direction, and the condition that the track beam is staggered can be detected more effectively.
It is understood that the structure of the sensor frame 20 is not limited to the specific structure shown in the present application, and all the structures are included in the protection scope of the present application since the structure can be detachably connected to the main frame 10 in the present application, and provide the mounting surfaces (the first mounting surface 201, the second mounting surface 202, and the third mounting surface 203) for the detection device. Further, a plurality of extension portions 22 that set up along longitudinal direction on the sensor frame 20 link to each other through the steel construction to strengthen the regional stability of keeping away from crossbeam portion 21 on the extension portion 22, thereby ensure the stability of detection device in the rail inspection car advancing process, in order to provide more accurate testing result.
In some embodiments, as shown in fig. 1 and 5, the rail inspection vehicle further comprises: a cover 60 connected to the base plate 30 and disposed above the base plate 30; an apron board 70 connected to the chassis 30 and provided above the traveling mechanism 40 and the sensor frame 20; a driving device 80 connected with the chassis 30 and electrically connected with the traveling mechanism 40; and the electric cabinet 90 is connected with the chassis 30 and is used for being electrically connected with the detection equipment.
The rail inspection vehicle may further include a housing 60, an apron 70, and the like to protect the traveling mechanism 40, the guiding and stabilizing mechanism 50, and the sensor frame 20, such as to prevent water and collision, and to protect the detection equipment on the sensor frame 20. Meanwhile, the running mechanism 40 is powered by the driving device 80, self-running of the rail inspection vehicle is achieved, and the driving device 80 can be a battery and the like. Through setting up electric cabinet 90, can set up some automatically controlled devices in electric cabinet 90, for example journey encoder, the detection of mileage is realized to the mileage encoder through the shaft coupling links to each other with the encoding shaft, or storage device, connects check out test set, record detection data.
It is worth mentioning that the apron 70 in fig. 5 has a partial area not shown, and the apron 70 in the actual product extends forward to cover above the sensor frame 20.
The rail detection vehicle provided by the application is specifically described below by taking a detection trolley for staggered platform detection of a straddle-type monorail track as an example.
The straddle type single rail is a rail traffic system which is supported, stabilized and guided by a single rail, and a vehicle body runs by riding a rubber tire on a rail beam. The power supply rail staggering and the finger-shaped plate staggering of the straddle type monorail are important indexes for guaranteeing the safety of monorail travelling, the riding comfort of passengers can be influenced when the staggering is too large, the vibration and the travelling noise of the whole vehicle can be increased, and even the travelling safety of a train can be influenced. At present, no detection trolley related to straddle type single-rail power supply rail dislocation and finger-shaped plate dislocation detection exists in China. Straddle type single track supplies power rail dislocation and finger plate dislocation to detect and mainly relies on artifical the detection, go to see through the naked eye, judge with the mode of ruler volume whether the dislocation exceeds standard, and artifical the detection dislocation has work load big, the measurement process is complicated, detect the precision low and inefficiency, and the staff walks on the overpass and measures insecurely etc. not enough, this just needs a kind of automated inspection straddle type single track supplies power rail dislocation and finger plate dislocation's detection dolly, guarantee single track driving safety and passenger and take the comfort level.
Therefore, a specific embodiment of the application provides a detection trolley for staggered platform detection of a straddle type monorail track, so as to solve the problems of large workload, complex measurement process, low detection precision, low efficiency and the like due to manual detection.
The detection dolly that formula monorail track staggered floor that strides provided of this embodiment detected includes: chassis 30, running gear 40, direction stabilizing mean 50, check out test set (including multiple check out test set, be used for detecting different project content respectively), the electric appliance cabinet body (including electric cabinet 90 and drive arrangement 80). The main structure is made of carbon steel and aluminum alloy, and the structure is formed by sectional materials, plate-girder structures and the like. As shown in fig. 1 to 5, the straddle type monorail inspection vehicle main body structure comprises: the structure such as chassis 30, sensor frame 20, direction stabilizing mean 50, electric cabinet 90, encloser 60, skirtboard 70, battery box (being drive arrangement 80), structural style combines together by multiple forms such as section bar structure, plate girder structure, and wherein the major structure is original to adopt bearing structure and the split type design of high accuracy detection frame, has technical characterstic such as preloading self-align guiding mean, high strength high rigidity chassis 30, high accuracy combination location sensor frame 20, the coaxial whole processing running gear 40 of four-wheel simultaneously.
Specifically, the chassis 30 mainly comprises a frame structure and various mounting seats, wherein the frame structure is composed of high-strength rectangular steel pipes, is welded into a high-rigidity anti-deformation frame structure through processing, serves as a bearing body of the whole rail inspection vehicle, provides mounting reference surfaces for connecting other mechanisms (such as the sensor frame 20 and the guide stabilizing mechanism 50) to form various mounting seats, and ensures the overall mounting precision; each mounting position (mainly chassis installation face 301, be equipped with hole and face body on chassis installation face 301, through face body and other each mechanism contact cooperation, the hole is fixed with other each mechanism, also can set to the form of mounting hole or mounting groove to connect other each mechanism) on chassis 30 is the whole processing after welding, and adopts high accuracy four-axis numerical control machine tool to process and forms, can provide the installation reference surface of high accuracy for each mechanism to reach whole high accuracy design requirement.
In order to ensure that the rail inspection vehicle can always run along the rail, 4 groups of guide stabilizing mechanisms 50 are designed around the chassis 30, and the guide wheels 54 are tightly attached to the guide surface of the monorail track under the action of the springs 523 and directly bear the transverse force between the rail inspection vehicle and the monorail track to prevent the rail inspection vehicle from being separated from the monorail track. The dual springs 523 are designed to buffer lateral loads and provide sufficient guiding force to ensure the smooth running of the rail inspection vehicle. The guide wheel 54 is generally composed of a guide wheel arm 51, a guide wheel bracket 52, a guide wheel 54, a guide wheel shaft 53, a compression spring 523, a spring adjusting rod 525, an adjusting nut and the like. Wherein, the guide wheel 54 wheel arm is mainly formed by welding steel plates. The guide wheel 54 is composed of a steel plate, a guide groove 527, a spring mounting seat 521 and the like. The guide wheel shaft 53 mainly comprises an elastic retainer ring, a gasket and a sleeve, and the axial positioning is completed by the elastic retainer ring, the gasket, the sleeve and a shaft shoulder. The guide wheel 54 is an aluminum alloy hub or a polyurethane tire. The wheel arm joints are connected by bolts and positioned by seam allowances. The amount of compression of spring 523 can be adjusted by spring adjustment nut 524. The relative position of the two guide wheels 54 can be made larger than the width of the track beam by adjusting the rod nut 526, so that the disassembly is convenient.
The whole walking mechanism 40 is four-wheel walking and is divided into a coding wheel pair 42 (front wheel) and a driving wheel pair 43 (rear wheel), a two-wheel pair connecting plate 41 is integrally machined to ensure the coaxiality and the planeness of the wheels, and the walking wheels are made of polyurethane and aluminum alloy; the motor is driven backwards, power is provided for the rail inspection vehicle through gear transmission, self walking is achieved, and the mileage encoder is connected with the encoding wheel shaft through the coupler to achieve mileage detection.
The sensor frame 20 is a platform for carrying and installing various types of detection equipment, and the detection equipment belongs to a high-precision measuring instrument and has very high requirements on structural members, so that the structure (the sensor frame 20) and the main body bearing structure (the main frame 10) are designed in a split mode, the connection with the main frame 10 adopts a high-precision fastening alignment device, and the main design key points are two aspects of a high-precision installation structure and a high-precision repeated positioning structure.
The typical high-precision mounting structure is that the detection bracket and the mounting surface are all machined surfaces of a high-precision numerical control machine tool. The 10 mounting surfaces (the second mounting surface 202) for mounting and detecting the walking surface sensor, the four mounting surfaces (the first mounting surface 201) connected with the chassis 30 and the total 12 mounting surfaces (the third mounting surface 203) for detecting the side surface of the track beam are integrally machined after welding, the flatness of each mounting surface is ensured to be within 0.2mm, the form and position tolerance requirements of the four machined surfaces (the chassis mounting surface 301 which is used as the mounting reference surface of the main frame 10 and the mounting reference surface of the sensor frame 20) of each mounting surface connected with the chassis 30 are ensured, the corresponding verticality is within 0.1mm, and the parallelism is within 0.1 mm. The detecting instrument for being connected with the mounting surface is in a modular design, each module consists of a mounting plate and a T-shaped aluminum alloy support, each mounting surface is a machined surface, and each T-shaped aluminum alloy support and the mounting surface are positioned by a pin and fastened by a bolt.
The typical structure of the high-precision repeated positioning structure adopts a high-precision combined pin and a locker for positioning; the locker comprises a thumb-turning knob and a cam sleeve, the knob is provided with a cam groove structure, the cam groove moves along the route of a ball in the cam sleeve, so that a spring 523 in the knob is compressed, the two connecting plates 41 are tensioned, the high-precision combined pin is combined for positioning, and the repeated positioning precision can reach +/-0.1 mm. This connected mode is convenient for the dismouting, and the repeated positioning accuracy is higher.
In summary, the rail inspection vehicle provided by the invention is additionally provided with the sensor frame with a split structure, so that the sensor frame is detachably connected with the main frame, and therefore, the detection equipment arranged on the main frame in the related technology is arranged on the sensor frame provided by the application, and the acting force between the rail inspection vehicle and the detected track beam directly acts on the guide stabilizing mechanism, thereby being beneficial to ensuring the use stability of the sensor frame, further ensuring the use stability of the detection equipment and enabling the detection result to be more accurate.
In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A rail inspection vehicle, comprising:
a main frame, a first fixing plate and a second fixing plate,
the sensor frame is detachably connected with the main frame and is used for arranging detection equipment so as to detect the track beam;
wherein the main frame includes:
a chassis;
the traveling mechanism is connected with the chassis and is used for being in contact fit with the top surface of the track beam so that the rail inspection vehicle travels along the track beam;
and the guide stabilizing mechanism is connected with the chassis and is used for clamping the side surface of the track beam so as to stabilize the track inspection vehicle.
2. A rail inspection vehicle according to claim 1,
the chassis is provided with a plurality of chassis mounting surfaces which are used for connecting the travelling mechanism, the guide stabilizing mechanism and the sensor frame;
the chassis is of an integrated welding structure, and the chassis mounting surface is formed on the integrated welding structure.
3. A rail inspection vehicle according to claim 1,
the number of the guide stabilizing mechanisms is four, the four guide stabilizing mechanisms are arranged in a rectangular shape and are respectively positioned at four corners of the rectangle, so that the rail inspection vehicle is arranged on the rail beam in a crossing manner along the transverse direction;
wherein the transverse direction is perpendicular to the advancing direction of the rail inspection vehicle.
4. A rail inspection vehicle according to claim 3 wherein the guide stabilising mechanism comprises:
one end of the guide wheel arm is connected with the chassis, and at least one part of the guide wheel arm extends along the direction vertical to the chassis;
one end of the guide wheel bracket is connected with the other end of the guide wheel arm in a turning way; the guide wheel bracket comprises a spring mounting seat;
the guide wheel shaft is connected with the spring mounting seat;
the guide wheel is arranged on the guide wheel shaft and is suitable for rolling along the side surface of the track beam;
wherein the spring mount is adapted to be lengthened or shortened in a lateral direction to maintain the guide wheel in contact engagement with the side of the rail beam.
5. A rail inspection vehicle according to claim 4,
the guide wheel bracket comprises a bracket body and two spring mounting seats, the two spring mounting seats are respectively arranged on the upper side and the lower side of the bracket body, and a guide groove is formed in the bracket body and used for accommodating one part of the guide wheel; and/or
The chassis and the guide wheel arm are positioned by adopting a seam allowance; and/or
A spring adjusting rod and an adjusting rod nut are arranged on the spring mounting seat, one end of the spring adjusting rod is connected with the guide wheel shaft, one end of the spring adjusting rod is connected with the adjusting rod nut, and the adjusting rod nut is suitable for rotating to be matched with the spring adjusting rod to drive the guide wheel to move transversely relative to the guide wheel arm; and/or
The spring mounting seat is provided with a spring and a spring adjusting nut, one end of the spring is in abutting fit with the guide wheel arm, the other end of the spring is connected with the spring adjusting nut, and the spring adjusting nut is suitable for rotating to adjust the compression amount of the spring and enhance the pre-tightening force of the spring.
6. A rail inspection vehicle according to any one of claims 1 to 5,
the traveling mechanism comprises a connecting plate, a coding wheel pair and a driving wheel pair;
the connecting plate is connected with the chassis, and the coding wheel pair and the driving wheel pair are arranged on the connecting plate in the front and back direction along the running direction of the rail inspection vehicle;
wherein, the connecting plate is a whole plate.
7. A rail inspection vehicle according to any one of claims 1 to 5,
the sensor frame comprises a beam part and two extending parts connected with the beam part in a turning way;
the sensor frame is provided with a plurality of first mounting surfaces, and the first mounting surfaces are arranged on the end surface of the sensor frame facing the main frame direction and connected with the chassis;
the beam part is provided with a plurality of second mounting surfaces, and the second mounting surfaces are arranged on the end surface, far away from the extending part direction, of the sensor frame and used for mounting detection equipment for detecting the running surface of the track beam;
the two extending parts are respectively provided with a plurality of third mounting surfaces arranged at intervals, the plurality of third mounting surfaces on the two extending parts are arranged oppositely one by one, and the third mounting surfaces are used for mounting detection equipment for detecting the side surfaces of the track beam.
8. A rail inspection vehicle according to claim 7,
the flatness of the first mounting surfaces is in the range of 0.1mm to 0.3mm, and the parallelism among the first mounting surfaces is in the range of 0.05mm to 0.15 mm;
the flatness of the second mounting surface is in the range of 0.1mm to 0.3 mm; and the parallelism of the second mounting surfaces relative to the first mounting surfaces is in the range of 0.05mm to 0.15 mm;
the flatness of the third mounting surface is in the range of 0.1mm to 0.3 mm; and the verticality of the third mounting surfaces relative to the first mounting surface is in the range of 0.05mm to 0.15 mm.
9. A rail inspection vehicle according to claim 7,
the number of the first mounting surfaces is four, and four first mounting surfaces are arranged in a rectangular shape and are respectively positioned on four corners of the rectangle;
the first mounting surface is positioned with the chassis mounting surface of the chassis through a combined pin, and the first mounting surface is detachably connected with the chassis mounting surface of the chassis through a locker.
10. A rail inspection vehicle according to claim 7,
the number of the beam parts is multiple, and the multiple beam parts are arranged at intervals along the longitudinal direction;
wherein, longitudinal direction is the advancing direction of car is examined to the rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010392703.9A CN111547086B (en) | 2020-05-11 | 2020-05-11 | Rail inspection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010392703.9A CN111547086B (en) | 2020-05-11 | 2020-05-11 | Rail inspection vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111547086A true CN111547086A (en) | 2020-08-18 |
| CN111547086B CN111547086B (en) | 2023-06-23 |
Family
ID=72006110
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010392703.9A Active CN111547086B (en) | 2020-05-11 | 2020-05-11 | Rail inspection vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111547086B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113059961A (en) * | 2021-03-25 | 2021-07-02 | 中车青岛四方车辆研究所有限公司 | Wheel pair for rail transit inspection robot |
| CN113954906A (en) * | 2021-11-05 | 2022-01-21 | 中国铁建重工集团股份有限公司 | Track guiding device and APM track detection device |
| CN115107818A (en) * | 2022-01-20 | 2022-09-27 | 中铁宝桥集团有限公司 | Articulated monorail overhead tourist car bogie |
| CN115107818B (en) * | 2022-01-20 | 2024-04-26 | 中铁宝桥集团有限公司 | Articulated type monorail overhead tourist car bogie |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009133670A (en) * | 2007-11-29 | 2009-06-18 | Kankou:Kk | Track inspection apparatus of straddling type monorail |
| JP2011153981A (en) * | 2010-01-28 | 2011-08-11 | Hitachi High-Technologies Corp | Method and device for measuring track deviation of concrete track |
| KR101468172B1 (en) * | 2014-05-09 | 2014-12-05 | 주식회사 케이엠티엘 | Apparatus for inspecting monorail |
| CN104554323A (en) * | 2014-12-25 | 2015-04-29 | 太原轨道交通装备有限责任公司 | Straddle type monorail operation vehicle with structure comprising two pairs of wheels |
| CN208021460U (en) * | 2017-12-15 | 2018-10-30 | 比亚迪股份有限公司 | Detection vehicle for straddle-type monorail |
| CN109910931A (en) * | 2019-04-03 | 2019-06-21 | 中国铁建重工集团有限公司 | Magnetic suspension track inspection railcar |
| CN110466560A (en) * | 2019-08-06 | 2019-11-19 | 中国铁建重工集团股份有限公司 | Track detecting component |
-
2020
- 2020-05-11 CN CN202010392703.9A patent/CN111547086B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009133670A (en) * | 2007-11-29 | 2009-06-18 | Kankou:Kk | Track inspection apparatus of straddling type monorail |
| JP2011153981A (en) * | 2010-01-28 | 2011-08-11 | Hitachi High-Technologies Corp | Method and device for measuring track deviation of concrete track |
| KR101468172B1 (en) * | 2014-05-09 | 2014-12-05 | 주식회사 케이엠티엘 | Apparatus for inspecting monorail |
| CN104554323A (en) * | 2014-12-25 | 2015-04-29 | 太原轨道交通装备有限责任公司 | Straddle type monorail operation vehicle with structure comprising two pairs of wheels |
| CN208021460U (en) * | 2017-12-15 | 2018-10-30 | 比亚迪股份有限公司 | Detection vehicle for straddle-type monorail |
| CN109910931A (en) * | 2019-04-03 | 2019-06-21 | 中国铁建重工集团有限公司 | Magnetic suspension track inspection railcar |
| CN110466560A (en) * | 2019-08-06 | 2019-11-19 | 中国铁建重工集团股份有限公司 | Track detecting component |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113059961A (en) * | 2021-03-25 | 2021-07-02 | 中车青岛四方车辆研究所有限公司 | Wheel pair for rail transit inspection robot |
| CN113954906A (en) * | 2021-11-05 | 2022-01-21 | 中国铁建重工集团股份有限公司 | Track guiding device and APM track detection device |
| CN113954906B (en) * | 2021-11-05 | 2022-12-13 | 中国铁建重工集团股份有限公司 | Track guiding device and APM track detection device |
| CN115107818A (en) * | 2022-01-20 | 2022-09-27 | 中铁宝桥集团有限公司 | Articulated monorail overhead tourist car bogie |
| CN115107818B (en) * | 2022-01-20 | 2024-04-26 | 中铁宝桥集团有限公司 | Articulated type monorail overhead tourist car bogie |
| CN117509050B (en) * | 2023-11-20 | 2024-05-03 | 北京朗信智能科技有限公司 | Walking mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111547086B (en) | 2023-06-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112550340B (en) | Bogie and rail vehicle | |
| CN111547086A (en) | Rail inspection vehicle | |
| CN110001670B (en) | Quick-assembly and quick-disassembly type hoisting track robot, running gear thereof and loading and unloading method | |
| CN202783280U (en) | Transporting towing bracket for automobile body | |
| CN109030038A (en) | A kind of calibration test platform for force-measuring wheel set | |
| CN209904753U (en) | Quick-assembly and quick-disassembly ultra-thin type hoisting track robot and walking device thereof | |
| CN112519827B (en) | Bogie crossbeam, bogie and rail vehicle | |
| CN112362742A (en) | Flaw detection device | |
| CN112519826B (en) | Bogie and rail vehicle | |
| CN209904755U (en) | Hoisting track robot and quick-assembly and quick-disassembly type bearing guide mechanism thereof | |
| CN112519825B (en) | Bogie and rail vehicle | |
| CN211166869U (en) | Railway track flaw detection mechanism and flaw detection vehicle | |
| CN218711854U (en) | Rail panel fine adjustment detection device smooth in operation | |
| CN111114576B (en) | Bogie and monorail train | |
| CN108891437B (en) | Power technology bogie | |
| MX2011003915A (en) | Powered bogie. | |
| CN213008130U (en) | Internal guide type bogie, railway vehicle with same and railway traffic system | |
| CN112519823B (en) | Bogie side beam, bogie and railway vehicle | |
| CN211032593U (en) | IMS-based inertial navigation system track detector | |
| JP2012098067A (en) | Vehicle-mounted type weighing apparatus | |
| CN212585815U (en) | Rail clamping type weighing device | |
| CN204956502U (en) | Anti -rolling torsion bar mounting structure suitable for articulated formula bogie | |
| CN218643092U (en) | Track panel fine adjustment vehicle capable of flexibly positioning track fine adjustment arm | |
| CN218666957U (en) | Integrated track panel fine adjustment detection device | |
| CN220744337U (en) | Sorting trolley modularization running mechanism and sorting equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |